For understanding "Centripetal Force" Let's first understand the two the separately-:

Force- In basic terms it is either Push or Pull.

Centripetal- This in literal term means towards center.

So combining these we can say Force or push/pull towards center.

In physics we understand this by equation-:

This is the net force which acts on the body in order to keep it moving in circular path or motion.

Acceleration for this is a=v^2/r

F =mv^2/r